MITL2Timed - transforms a MITL formula to a timed automaton based on LTL2BA. Forked from 
https://github.com/slivingston/ltl2gba.

Modified by Yuchen Zhou, University of Maryland, USA.
Copyright (c) 2015  Yuchen Zhou
Available at https://github.com/yzh89/MITL2ta


1. LICENSE OF LTL2BA


LTL2BA - Version 1.0 - October 2001
Written by Denis Oddoux, LIAFA, France                                 
Copyright (c) 2001  Denis Oddoux                                       
     
LTL2BA - Version 1.1 - August 2007
Modified by Paul Gastin, LSV, France                                 
Copyright (c) 2007  Paul Gastin                                       
Available at http://www.lsv.ens-cachan.fr/~gastin/ltl2ba

Modified by Scott C. Livingston, Caltech, USA.
Copyright (c) 2013  Scott C. Livingston
Available at https://github.com/slivingston/ltl2gba.
                                                                  
This program is free software; you can redistribute it and/or modify   
it under the terms of the GNU General Public License as published by   
the Free Software Foundation; either version 2 of the License, or      
(at your option) any later version. GNU GPL is included in this 
distribution, in a file called 'LICENSE'
                                                                       
This program is distributed in the hope that it will be useful,        
but WITHOUT ANY WARRANTY; without even the implied warranty of         
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          
GNU General Public License for more details.                           
                                                                       
You should have received a copy of the GNU General Public License      
along with this program; if not, write to the Free Software            
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

The LTL2BA software was written by Denis Oddoux and modified by Paul
Gastin.  It is based on the translation algorithm presented at CAV '01:
	P.Gastin and D.Oddoux
	"Fast LTL to Büchi Automata Translation" 
	in 13th International Conference on Computer Aided Verification, CAV 2001, 
	G. Berry, H. Comon, A. Finkel (Eds.)
	Paris, France, July 18-22, 2001, 
	Proceedings - LNCS 2102, pp. 53-65
                                                                       
Send bug-reports and/or questions to Paul Gastin   
http://www.lsv.ens-cachan.fr/~gastin

Part of the code included is issued from the SPIN software Version 3.4.1
The SPIN software is written by Gerard J. Holzmann, originally as part
of ``Design and Validation of Protocols,'' ISBN 0-13-539925-4,
1991, Prentice Hall, Englewood Cliffs, NJ, 07632
Here are the files that contain some code from Spin v3.4.1 :

	cache.c  (originally tl_cache.c)
	lex.c    (           tl_lex.c  )
	ltl2ba.h (	     tl.h      )
	main.c   (	     tl_main.c )
	mem.c	 (	     tl_mem.c  )
	parse.c  (	     tl_parse.c)
	rewrt.c  (	     tl_rewrt.c)
	trans.c	 (	     tl_trans.c)

2. Changes for MITL2Timed
Main changes is the addition of file timed.c to create the timed automata based on MITL.
parse.c and trans.c is modified according to parse the input and generate the output correctly. 
Additional python scripts are generated alone the way to create UPPAAL models for model checking.

3. COMPILING

compile the program
> make

4. EXECUTING (for MITL2Timed)

run the program
> ./mitl2ta -f "formula"

The formula is an MITL formula, and may contain propositional symbols, 
boolean operators, temporal operators, and parentheses.
The syntax used is the one used in the 'Spin' model-checker

Propositonal Symbols:
        true, false
	any lowercase string

Boolean operators:
        !   (negation)
        ->  (implication)
	<-> (equivalence)
        &&  (and)
        ||  (or)

Temporal operators:
        []  (always)
        <>  (eventually)
        U   (until)
        V   (release)
        X   (next)

        <>_[l,r] (eventually with interval l to r)
        []_[l,r] (always with interval l to r)

Use spaces between any symbols.

5. Map information is hard coded at current stage. 
The robot can move up or down and right or left if there is any. It can
be easily extends to larger grid.

pos0 	pos1:b
pos2:a 	pos3